Lecture09-3DTransforms 计算机图形学ppt课件.ppt

Specific Example: rotate object about the line passing through (1, 3, 2) and (2, 4, 3) by the angle of q Note: Length does not change with R or T Rotation About Arbitrary Axis: example x y z l p1 = (1, 3, 2) p2 = (2, 4, 3) Step 1: Translate point to origin Rotation example (step 1) x y z l p1 = (1, 3, 2) p2 = (2, 4, 3) x y z l p1’ = (0, 0, 0) p2’ = (1, 1, 1) Step 2: Rotate to get line in coordinate plane Rotate a about y to get p2’ into xy plane Rotation example (step 2a) x y z l p1’ = (0, 0, 0) p2’ = (1, 1, 1) x y z l p1’’ = (0, 0, 0) p2’’ = (?,?,?) a What is a? Looking down the y axis: Rotation example (step 2b) x z p1’ = (0, 0, 0) p2’ = (1, 1, 1) a So: What is p2’’? If we apply the rotation matrix to p2’, we get p2’’ Rotation example (step 2c) Giving: Rotation example (step 2d) x y z l Next, rotate about the z axis by b to put p2 on the y axis What angle is b? Rotation example (step 3a) x y z l x y z l b Looking down the z axis: Rotation example (step 3b) x y p1’ = (0, 0, 0) b So: What is p2’’’? If we apply the rotation matrix to p2’’, we get p2’’’ Rotation example (step 3c) Giving: Rotation example (step 3d) x y z l Step 4: Perform the desired rotation about the y axis This is the rotation we originally desired to perform Step 5: Rotate about the z axis an angle of -b This will undo the z rotation performed earlier Step 6: Rotate about the y axis an angle of -a This will undo the y rotation performed earlier Step 7: Translate by -T This will move the object back to it’s appropriate location Rotation example (steps 4-7) Rotation Example (final) The final transformation matrix is: CS 455 – Computer Graphics Three-Dimensional Transformations 3D Space We want to extend the idea of transformations to deal with 3D objects More complex than 2D, but essentially the same ideas work Coordinate systems: We will use a right-handed system Right-handed x y z Left-handed x y z General 3-D Transformations A general 3-D transformation has the form: